Title:
INNER FORCE REPRESENTING DEVICE
Document Type and Number:
Japanese Patent JP3624374
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To realize an inner force presenting device which presents an inner force to human fingertips and also can record/reproduce inner force data obtained when a person actually touches an object.
SOLUTION: An inner force sensor 1 can be attached to a human fingertip and is connected to a base 3 through a small manipulator 2, a plurality of active joints consisting of an actuator and an angle detection sensor and a passive joint consisting only of an angle detection sensor are selectively arranged in the small manipulator in accordance with an inner force component to be presented, and the inner force is represented to the human fingertip by driving the actuators of the active joints on the basis of the difference between the inner force to be presented and the output value of the inner force sensor. The actuator is controlled so as to make torque acting upon the active joints of the small manipulator to be zero, the finger is moved while the small manipulator can be freely moved, and inner force data and fingertip motion data are measured and recorded when the finger actually touches an object.
More Like This:
Inventors:
Kazuyuki Nagata
Application Number:
JP2000376753A
Publication Date:
March 02, 2005
Filing Date:
December 12, 2000
Export Citation:
Assignee:
National Institute of Advanced Industrial Science and Technology
Kazuyuki Nagata
Kazuyuki Nagata
International Classes:
B25J13/02; B25J15/08; B25J19/02; G06F3/00; G06F3/01; G06F3/02; (IPC1-7): G06F3/00; B25J13/02; B25J15/08; B25J19/02; G06F3/02
Domestic Patent References:
| JP11051790A | ||||
| JP61260988A | ||||
| JP1139020A | ||||
| JP3409160B2 | ||||
| JP3261653B2 |
Other References:
永田和之,指先力覚センサの開発と接触点検出誤差評価,日本ロボット学会誌,日本,社団法人日本ロボット学会,1996年11月15日,第14巻 第8号,P.137-144